JPS60133131A - Safety device for slewing type working vehicle - Google Patents

Abstract

PURPOSE:To prevent uncontrollable slewing of a slewing table due to a trouble, by installing a device which controls according to information from a sensor for detecting a rotary angle communicated with a controller which automatically governs rotation and an auxiliary sensor for detecting the rotary angle of a rotary shaft. CONSTITUTION:A rotary angle information value, detected through operation of a main sensor 16 in linkage with a rotary shaft 15 which is located in a reduction gear 14 and turns in linkage with a slewing motor 7, is inputted to a second controller 12. A difference between a rotary angle information value, detected by passage of a rotary member 18 to be detected attached to a rotary shaft 15 through auxiliary sensors 19A and 19B along with rotation thereof, and the information value of the main sensor 16 is decided by a trouble deciding circuit 22 in a microcomputer M. When such difference exceeds a set value, a buzzer type alarming device 20 and an amergency stop circuit 21 for a slewing table 3, connected to a controller 12, are automatically operated. This enables prevention of an electrical and a mechanical trouble on the sensor 16 and an universal joint 17.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention has a main sensor for detecting a rotation angle linked to a controller that automatically controls the speed of the swivel base, which is linked to a rotary shaft for driving the swivel base by a universal joint, and a rotation angle detection sensor that is linked to a controller that automatically adjusts the speed of the swivel base. The present invention relates to a safety device for a swing-type work vehicle that protects the main sensor so that a high-load sensor such as a rotary encoder can be used as the main sensor.

Conventionally, in the above-mentioned swivel-type work vehicle i, the main sensor was incorrectly connected to the automatic speed governor due to electrical and mechanical problems such as a disconnection in the main sensor for detecting the rotation angle or damage to the universal joint. If such information were input, there was a risk that the swivel table would run out of control and cause an unexpected accident.

The purpose of the present invention is to make it possible to reliably detect both the electrical traggle of the main sensor and the mechanical traggle of the universal joint through reasonable improvements, thereby preventing the swivel base from running out of control due to these troubles. The point is to make it possible.

The characteristic configuration of the safety device according to the present invention is that an optical or magnetic auxiliary sensor is provided to detect the rotation angle of the rotating member attached to the rotary shaft for driving the swivel table, and the difference between the information values from the main sensor and the auxiliary sensor is greater than a set value. A warning device and a swivel stop device that automatically operate when
Its action and effect are as follows.

However, because the auxiliary sensor is configured with an optical or magnetic non-contact type, and because the auxiliary sensor does not require the same high precision as the main sensor, a universal joint is used for the auxiliary sensor. The auxiliary sensor can be directly provided on the rotating shaft for driving the swivel table without the need for an intervening device.

Therefore, even if either an electrical trouble in the main sensor or a mechanical trouble in the universal joint occurs, the detection information value from the main sensor at the opposite time to the universal joint from the auxiliary sensor and the detection information value from the auxiliary sensor Since a difference can always be generated between the detected information value and the detected information value, it is possible to reliably detect both electrical and mechanical troubles by determining whether the difference is greater than or equal to a set value.

As a result, by automatically operating the alarm device and the swivel table stop device based on the results of the above two determinations, it is possible to notify the operator of trouble early and take appropriate measures, and the swivel table stop device can be automatically activated. We were able to stop the engine and prevent it from running out of control. Overall, we were able to significantly improve safety while maintaining high accuracy in rotation angle detection using a high-precision main sensor.

Furthermore, since the auxiliary sensor does not require high precision as described above, an inexpensive auxiliary sensor can be used, which is advantageous in terms of improvement costs.

Next, an example will be described.

In the swing-type excavation work vehicle shown in FIG.
To configure the turning operation structure for the traveling device (4),
As shown in FIG. 9, a potentiometer (6) for detecting the operating state of the operating lever (5) is attached to the operating lever (5).
) to rotate the swivel base (3) in a direction commensurate with the operating direction and at a speed commensurate with the amount of operation. 1 controller (9), rotation angle information ψ) from the main sensor 4 for detecting the rotation angle of the traveling device attached to the rotation drive part of the swivel base (3), and a potentiometer (6).
Based on the information from 1, the swivel base (3) is rotated in a direction commensurate with the operating direction of the lever (6) and in a preset speed change state, with lever operation as a start command. , the proportional control valve (8) so as to stop at the rotation angle (θf) artificially set by the setting device (l).
A second controller (1'4) for automatic operation is installed in a microcomputer (B), and the eleventh and second controllers +91 and H are selected as proportional control valves (8). A circuit switcher (13) is provided to switch the connection automatically, so that the manual turning operation by the first controller (9) and the automatic turning operation by the second controller α can be selectively performed. It is composed.

As shown in FIGS. 2 to 4, the rotation angle detection sensor unit equipped with the main sensor 6) consists of seven rotating speeds in the gear type reduction gear 04 linked to the swing motor (7). The main sensor t+ti consisting of a rotary encoder is attached to the shaft (16) with a universal joint (
I7), and the detection information value from the main sensor is input to the second controller (I2) as the rotation angle information ψ) for the automatic turning operation, and the rotation axis 06) One detection target turning member (
The rotation angle of the rotating member is detected by detecting that 181 has passed as the rotating shaft (151) rotates.
Two photointerrupter type auxiliary sensors (19A).

(19B) is provided on the rotation locus of the rotating member (1~).

And one of those auxiliary sensors (19A).

The rotation angle information value from (19B) and the rotation angle information value from the main sensor r-ae are compared to determine whether the difference between them is greater than the setting, and if the difference is 7 or more than the setting, a buzzer is activated. A trouble determination circuit (support) that automatically activates the swivel emergency stop circuit ■υ connected to the second controller (I) is installed in the microcomputer (inside the control unit). With this, electrical and mechanical troubles such as disconnection of the main sensor 4 and damage to the universal joint (I7) can be reliably detected, and the swivel base 1g1 can be prevented from running out of control due to the input of false detection information caused by these troubles. Moreover, the structure is such that the operator can be made aware of such troubles promptly.

The determination processing means in the trouble determination circuit (2) will be explained with reference to FIG.

On the rotation trajectory of the rotating member U8i, its rotational phase is //θ0
The passage detection signals transmitted from the auxiliary sensors (19A) and (19B) arranged so that the respective passage detection positions are at different positions by the same amount are used as the start signals of the determination processing cycle, and are sequentially processed as follows.

What) Rotation angle information (θa) transmitted from the main sensor (l→
The absolute value (Δθ) of the difference between this and the rotation angle information (θb) transmitted from the main sensor (16) at the time of current passage detection is calculated.

(b) It is determined whether the previous passage detection and the current passage detection were performed by the same auxiliary sensors (19A) and (19B).

In other words, by determining whether or not the same auxiliary sensor is detecting, it is possible to determine whether or not the swivel base (3) has been operated in reverse between the time when the previous passage was detected and the time when the current passage was detected. be.

(c) If the previous passage detection and the current passage detection were performed by the same auxiliary sensor, the auxiliary sensor (19
8) Assuming that the detected information value according to (19B) is 0,
Check whether the absolute value (Δθ) (ideally 0) of the difference in detection information from the main sensor (16) is within a preset maximum allowable error (Δθ). If it is larger than the maximum allowable error (Δθ group,
, 11 to issue an operation command.

) If the previous passage detection and the current passage detection are performed by different auxiliary sensors, both auxiliary sensors (19
The theoretical rotation angle (ΔθA-B) between both auxiliary sensors calculated in advance from the arrangement of A) and (19B) is calculated from the auxiliary sensor (
19A) and (19B), the theoretical rotation angle (ΔθA, B) is calculated from the absolute difference value (
The absolute value of the value subtracted from Δθ) (1Δθ−ΔθA, B
l) Calculate (ideally 0) and check whether its absolute value (1Δθ - ΔθA, Bl) is within the preset maximum allowable error (Δθ'M2). If it is larger than the maximum tolerance (Δθ), an activation command is issued to the alarm system and emergency stop circuit I2i+.

(E) Also, at the stage of (C) and (2) above, each absolute value (Δ
θ), (1Δθ−ΔθA, Bl) are each maximum allowable error (Δ
If it is within the range of θ fin, ) and (Δθ town), it is determined that the state is normal, and the rotation angle information (θb) from the current main sensor-06) and the current passing detection are determined to be in a normal state. After storing information on whether the sensor (19A) or (19B) has been used for the next judgment processing cycle, the current judgment processing is ended.

In addition, in the figure (to), an auxiliary sensor (19A) is shown.

(19B) determines whether or not the passage detection of the rotating member t181 is the first one during the current swivel base operation, and if the passage detection force 1 is the first one, the process is short-circuited to the storage process at the end of the cycle. do.

Next, another embodiment will be described.

As the main sensor (IQ), various types of rotation angle sensors can be used, such as a variable resistance potentiometer in addition to a rotary encoder.

For the auxiliary sensors (19A) and (19B), various types of optical or electromagnetic sensors can be applied, such as photo interrupters, electromagnetic proximity switches, or phototube sensors, and the number of sensors can also be used depending on the problem. It can be changed as appropriate depending on the impression of the judgment process.

Main sensor-081 and auxiliary sensor (19A), (19
A specific judgment processing form for determining trouble based on the information from B) is provided, in place of the processing form as in the above-mentioned embodiments. In addition to calculating the angle specifically,
The calculated rotation angle may be compared with the rotation angle per set time based on the information from the main sensor 4, and various improvements can be made to the specific determination processing form and circuit configuration.

Furthermore, the notification device can be of various types, such as a flashing lamp instead of a buzzer. Various improvements are also possible.

The safety device according to the present invention can be applied to swing-type working vehicles for various purposes such as agricultural and construction purposes.

[Brief explanation of drawings]

The drawings show an embodiment of the safety device for a swivel-type excavation vehicle according to the present invention, in which FIG. 1 is an overall side view of the swivel-type excavation vehicle, FIG. 2 is a swivel table control circuit diagram, and FIG. 8 is a rotation angle detection system. An enlarged view showing the structure, Fig. 4 is a sectional view taken along the line IV-4 in Fig. 8, Fig. 5
The figure is a flowchart. (3)...Swivel base, +121 town...Controller m
(151 town - rotation axis, O61... main sensor -,
(17)...Universal joint, bet...rotating member, (19A), (19B), old...auxiliary sensor, 4...notification device, (2)... Old... swivel stop device. Agent Patent Attorney Osamu Himura

Claims (1)

[Claims] Rotation angle detection sensor 4 linked to the controller O@ that automatically controls the speed of the swivel table (3) is connected to the rotary shaft Q@ for driving the swivel table through the universal joint 07) K! In the swing-type work vehicle that was moved,
Optical or magnetic auxiliary sensor (19A), (1
9B), and the main sensor O and the auxiliary sensor (
An alarm device that automatically operates when the difference between the information values from 19A) and (19B) exceeds a setting - and a swivel stop bag @1
A safety device for swing-type work vehicles that is equipped with 2υ.